test

imgui.ini

@@ -9,7 +9,7 @@ Size=432,649
 Collapsed=0
 
 [Window][Simulator]
-Pos=499,177
-Size=1200,681
+Pos=564,96
+Size=893,571
 Collapsed=0
 

src/Nexus.Core/BotConfig.cs

@@ -14,6 +14,9 @@ public class BotConfig
     // Navigation
     public float WorldToGrid { get; set; } = 23f / 250f;
 
+    // Combat engagement — suppress navigation when enemies are within this range
+    public float CombatEngagementRange { get; set; } = 600f;
+
     // Loot
     public float LootPickupRange { get; set; } = 600f;
 

src/Nexus.Core/MovementBlender.cs

@@ -21,8 +21,10 @@ public sealed class MovementBlender
     // Stuck detection
     private Vector2 _lastResolvePos;
     private int _stuckFrames;
-    private const int StuckFrameThreshold = 30; // ~0.5s at 60Hz
-    private const float StuckMovePerFrame = 3f;  // must move > 3 world units per frame to count as moving
+    private const int StuckFrameThreshold = 15;   // ~250ms at 60Hz
+    private const int StuckRecoveryThreshold = 45; // ~750ms — try random direction to break free
+    private const float StuckMovePerFrame = 3f;    // must move > 3 world units per frame to count as moving
+    private static readonly Random StuckRng = new();
 
     // EMA smoothing to dampen terrain validation jitter.
     // Snap decision based on INTENT change (pre-terrain), not terrain output — prevents
@@ -58,15 +60,11 @@ public sealed class MovementBlender
     public void Clear() => _intents.Clear();
 
     /// <summary>
-    /// Blends all submitted intents and validates against terrain.
-    /// Applies EMA smoothing after terrain validation to dampen probe jitter.
+    /// Updates stuck detection based on player movement. Call BEFORE systems run
+    /// so that IsStuck is available for systems to check (e.g. MovementSystem suppresses orbit).
     /// </summary>
-    public void Resolve(WalkabilitySnapshot? terrain, Vector2 playerPos, float worldToGrid)
+    public void UpdateStuckState(Vector2 playerPos)
     {
-        IsUrgentFlee = false;
-
-        // ── Stuck detection ──
-        // If player barely moves for ~0.5s, suppress orbit/herd so navigation can guide out
         var moved = Vector2.Distance(playerPos, _lastResolvePos);
         if (moved < StuckMovePerFrame)
             _stuckFrames++;
@@ -74,11 +72,31 @@ public sealed class MovementBlender
             _stuckFrames = Math.Max(0, _stuckFrames - 3); // recover 3x faster than building up
         _lastResolvePos = playerPos;
         IsStuck = _stuckFrames > StuckFrameThreshold;
+    }
+
+    /// <summary>
+    /// Blends all submitted intents and validates against terrain.
+    /// Applies EMA smoothing after terrain validation to dampen probe jitter.
+    /// </summary>
+    public void Resolve(WalkabilitySnapshot? terrain, Vector2 playerPos, float worldToGrid)
+    {
+        IsUrgentFlee = false;
 
         if (IsStuck)
         {
-            // Keep only flee (L0, L1) and navigation (L3) — drop orbit (L2) and herd (L4)
+            // Keep only flee (L0, L1), navigation (L3), and wall push (L5) — drop orbit (L2) and herd (L4)
             _intents.RemoveAll(i => i.Layer == 2 || i.Layer == 4);
+
+            // After 1s stuck, inject a random perpendicular nudge to break free
+            if (_stuckFrames > StuckRecoveryThreshold)
+            {
+                var angle = StuckRng.NextDouble() * Math.PI * 2;
+                var nudge = new System.Numerics.Vector2((float)Math.Cos(angle), (float)Math.Sin(angle));
+                _intents.Add(new MovementIntent(1, nudge, 0.7f, "StuckEscape"));
+                // Reset counter so we try a new direction periodically
+                if (_stuckFrames % 30 == 0)
+                    _stuckFrames = StuckRecoveryThreshold + 1;
+            }
         }
 
         _lastIntents = new List<MovementIntent>(_intents);

src/Nexus.Core/TerrainQuery.cs

@@ -88,8 +88,8 @@ public static class TerrainQuery
     /// </summary>
     public static Vector2 ComputeWallRepulsion(WalkabilitySnapshot terrain, Vector2 playerPos, float worldToGrid)
     {
-        const float probeNear = 25f;  // ~2-3 grid cells
-        const float probeFar = 60f;   // ~5-6 grid cells
+        const float probeNear = 40f;  // ~3-4 grid cells
+        const float probeFar = 100f;  // ~9-10 grid cells
 
         var push = Vector2.Zero;
 
@@ -122,6 +122,62 @@ public static class TerrainQuery
         return Vector2.Normalize(push);
     }
 
+    /// <summary>
+    /// Predictive wall steering — casts rays ahead along the movement direction.
+    /// If forward is blocked but a side is clear, returns a lateral steering vector.
+    /// </summary>
+    public static Vector2 ComputeWallSteering(
+        WalkabilitySnapshot terrain, Vector2 playerPos, Vector2 moveDir, float worldToGrid)
+    {
+        if (moveDir.LengthSquared() < 0.0001f)
+            return Vector2.Zero;
+
+        var dir = Vector2.Normalize(moveDir);
+        var leftDir = Rotate(dir, 30f);
+        var rightDir = Rotate(dir, -30f);
+
+        ReadOnlySpan<float> distances = [40f, 80f, 120f];
+
+        var forwardBlocked = false;
+        var leftClear = true;
+        var rightClear = true;
+
+        foreach (var dist in distances)
+        {
+            var fwd = playerPos + dir * dist;
+            var fx = (int)(fwd.X * worldToGrid);
+            var fy = (int)(fwd.Y * worldToGrid);
+            if (!terrain.IsWalkable(fx, fy))
+                forwardBlocked = true;
+
+            var left = playerPos + leftDir * dist;
+            var lx = (int)(left.X * worldToGrid);
+            var ly = (int)(left.Y * worldToGrid);
+            if (!terrain.IsWalkable(lx, ly))
+                leftClear = false;
+
+            var right = playerPos + rightDir * dist;
+            var rx = (int)(right.X * worldToGrid);
+            var ry = (int)(right.Y * worldToGrid);
+            if (!terrain.IsWalkable(rx, ry))
+                rightClear = false;
+        }
+
+        if (!forwardBlocked)
+            return Vector2.Zero;
+
+        // Steer toward the clear side
+        var lateral = new Vector2(-dir.Y, dir.X); // perpendicular (left)
+        if (leftClear && !rightClear)
+            return lateral;
+        if (rightClear && !leftClear)
+            return -lateral;
+        if (leftClear && rightClear)
+            return lateral; // default left when both clear
+        // Both blocked — push backward
+        return -dir;
+    }
+
     private static Vector2 Rotate(Vector2 v, float degrees)
     {
         float rad = degrees * MathF.PI / 180f;

src/Nexus.Pathfinding/NavigationController.cs

@@ -218,6 +218,8 @@ public sealed class NavigationController
                     return;
                 }
                 Log.Debug("NavigationController: stuck detected, repathing");
+                _positionHistory.Clear();
+                _stuckGraceTicks = 120; // 2 seconds grace before next stuck check
             }
         }
 

src/Nexus.Pathfinding/PathFinder.cs

@@ -105,6 +105,15 @@ public static class PathFinder
                         stepCost *= 1.5f;
                 }
 
+                // Wall-proximity penalty — prefer corridor centers
+                var wallCount = 0;
+                for (var d = 0; d < 8; d++)
+                {
+                    if (!terrain.IsWalkable(nx + Dx[d], ny + Dy[d]))
+                        wallCount++;
+                }
+                stepCost += wallCount * 0.5f;
+
                 var tentativeG = currentG + stepCost;
 
                 if (tentativeG < gScore.GetValueOrDefault(neighbor, float.MaxValue))

src/Nexus.Simulator/Config/SimConfig.cs

@@ -3,10 +3,18 @@ namespace Nexus.Simulator.Config;
 public class SimConfig
 {
     // Terrain
-    public int TerrainWidth { get; set; } = 500;
-    public int TerrainHeight { get; set; } = 500;
+    public int TerrainWidth { get; set; } = 1500;
+    public int TerrainHeight { get; set; } = 1500;
     public float WorldToGrid { get; set; } = 23f / 250f;
 
+    // Dungeon generation
+    public int DungeonRoomCountMin { get; set; } = 10;
+    public int DungeonRoomCountMax { get; set; } = 18;
+    public int DungeonRoomSizeMin { get; set; } = 55;  // grid cells (~600 world units)
+    public int DungeonRoomSizeMax { get; set; } = 110; // grid cells (~1200 world units)
+    public int DungeonCorridorWidth { get; set; } = 13; // grid cells (~140 world units)
+    public float DungeonEndReachDist { get; set; } = 150f; // world units
+
     // Player
     public float PlayerMoveSpeed { get; set; } = 400f;
     public int PlayerMaxHealth { get; set; } = 800;
@@ -55,10 +63,6 @@ public class SimConfig
     public float ProjectileHitRadius { get; set; } = 80f;
     public int SkillBaseDamage { get; set; } = 200;
 
-    // Terrain expansion
-    public int ExpandThreshold { get; set; } = 50;
-    public int ExpandAmount { get; set; } = 250;
-
     // Simulation
     public float SpeedMultiplier { get; set; } = 1f;
     public bool IsPaused { get; set; }

src/Nexus.Simulator/Program.cs

@@ -72,8 +72,8 @@ foreach (var sys in systems)
 // ── Start simulation poller ──
 poller.Start();
 
-// ── Start exploring ──
-nav.Explore();
+// ── Navigate to dungeon end ──
+nav.NavigateTo(world.EndWorldPos);
 
 // ── Bot logic thread ──
 var actionQueue = new ActionQueue();
@@ -98,6 +98,13 @@ var botThread = new Thread(() =>
                 var resolved = BotTick.Run(state, systems, actionQueue, movementBlender, nav, botConfig);
                 ActionExecutor.Execute(resolved, input, moveTracker, movementBlender, state.Player.Position);
 
+                // Check if dungeon end reached — regenerate and re-navigate
+                if (world.ReachedEnd)
+                {
+                    world.RegenerateTerrain();
+                    nav.NavigateTo(world.EndWorldPos);
+                }
+
                 botTickCount++;
                 if (maxTicks.HasValue && botTickCount >= maxTicks.Value)
                 {

src/Nexus.Simulator/Rendering/SimRenderer.cs

@@ -65,7 +65,8 @@ public class SimRenderer
         // 1. Terrain
         TerrainRenderer.Draw(drawList, _world.Terrain, vt, canvasSize,
             _nav.ExploredGrid, _nav.ExploredWidth, _nav.ExploredHeight,
-            _nav.ExploredOffsetX, _nav.ExploredOffsetY);
+            _nav.ExploredOffsetX, _nav.ExploredOffsetY,
+            _world.StartWorldPos, _world.EndWorldPos);
 
         // 2. Path
         PathRenderer.Draw(drawList, _nav, vt);
@@ -93,7 +94,10 @@ public class SimRenderer
         var minimapSize = 150f;
         var minimapOrigin = canvasOrigin + canvasSize - new Vector2(minimapSize + 10, minimapSize + 10);
         var playerGridPos = _world.Player.Position * _config.WorldToGrid;
-        TerrainRenderer.DrawMinimap(drawList, _world.Terrain, playerGridPos, minimapOrigin, minimapSize);
+        var startGridPos = _world.StartWorldPos * _config.WorldToGrid;
+        var endGridPos = _world.EndWorldPos * _config.WorldToGrid;
+        TerrainRenderer.DrawMinimap(drawList, _world.Terrain, playerGridPos, minimapOrigin, minimapSize,
+            startGridPos, endGridPos);
 
         // HUD text
         DrawHud(drawList, canvasOrigin, state);

src/Nexus.Simulator/Rendering/TerrainRenderer.cs

@@ -13,7 +13,8 @@ public static class TerrainRenderer
     public static void Draw(ImDrawListPtr drawList, WalkabilitySnapshot terrain,
         ViewTransform vt, Vector2 canvasSize,
         bool[]? exploredGrid = null, int exploredWidth = 0, int exploredHeight = 0,
-        int exploredOffsetX = 0, int exploredOffsetY = 0)
+        int exploredOffsetX = 0, int exploredOffsetY = 0,
+        Vector2? startWorldPos = null, Vector2? endWorldPos = null)
     {
         var cellSize = vt.Zoom;
         if (cellSize < 0.5f) return;
@@ -71,13 +72,32 @@ public static class TerrainRenderer
             var p3 = vt.GridToScreen(gx, gy + step);       // left
             drawList.AddQuadFilled(p0, p1, p2, p3, color);
         }
+
+        // Draw start marker (green circle)
+        if (startWorldPos.HasValue)
+        {
+            var sp = vt.WorldToScreen(startWorldPos.Value);
+            var r = Math.Max(6f, vt.Zoom * 3f);
+            drawList.AddCircleFilled(sp, r, 0xFF00FF00); // green
+            drawList.AddCircle(sp, r, 0xFF00AA00, 0, 2f);
+        }
+
+        // Draw end marker (red circle)
+        if (endWorldPos.HasValue)
+        {
+            var ep = vt.WorldToScreen(endWorldPos.Value);
+            var r = Math.Max(6f, vt.Zoom * 3f);
+            drawList.AddCircleFilled(ep, r, 0xFF0000FF); // red (ABGR)
+            drawList.AddCircle(ep, r, 0xFF0000AA, 0, 2f);
+        }
     }
 
     /// <summary>
     /// Draws a minimap in the corner (top-down, no rotation).
     /// </summary>
     public static void DrawMinimap(ImDrawListPtr drawList, WalkabilitySnapshot terrain,
-        Vector2 playerGridPos, Vector2 minimapOrigin, float minimapSize)
+        Vector2 playerGridPos, Vector2 minimapOrigin, float minimapSize,
+        Vector2? startGridPos = null, Vector2? endGridPos = null)
     {
         var scaleX = minimapSize / terrain.Width;
         var scaleY = minimapSize / terrain.Height;
@@ -102,10 +122,26 @@ public static class TerrainRenderer
                 0xFF2A2A3F);
         }
 
-        // Player dot — convert absolute grid pos to local
+        // Start marker (green dot)
+        if (startGridPos.HasValue)
+        {
+            var startLocal = startGridPos.Value - new Vector2(terrain.OffsetX, terrain.OffsetY);
+            var startPx = minimapOrigin + startLocal * scale;
+            drawList.AddCircleFilled(startPx, 3f, 0xFF00FF00); // green
+        }
+
+        // End marker (red dot)
+        if (endGridPos.HasValue)
+        {
+            var endLocal = endGridPos.Value - new Vector2(terrain.OffsetX, terrain.OffsetY);
+            var endPx = minimapOrigin + endLocal * scale;
+            drawList.AddCircleFilled(endPx, 3f, 0xFF0000FF); // red
+        }
+
+        // Player dot (cyan) — convert absolute grid pos to local
         var playerLocalPos = playerGridPos - new Vector2(terrain.OffsetX, terrain.OffsetY);
         var playerPx = minimapOrigin + playerLocalPos * scale;
-        drawList.AddCircleFilled(playerPx, 3f, 0xFF00FF00);
+        drawList.AddCircleFilled(playerPx, 3f, 0xFFFFFF00); // cyan (ABGR)
 
         // Border
         drawList.AddRect(minimapOrigin,

src/Nexus.Simulator/World/SimWorld.cs

@@ -16,6 +16,11 @@ public class SimWorld
     public List<SimSkillEffect> ActiveEffects { get; } = [];
     public WalkabilitySnapshot Terrain { get; private set; }
     public long TickNumber { get; private set; }
+    public Vector2 StartWorldPos { get; private set; }
+    public Vector2 EndWorldPos { get; private set; }
+    public bool ReachedEnd { get; private set; }
+
+    private int _dungeonSeed;
 
     // Pending respawns
     private readonly List<(float timer, MonsterRarity rarity)> _respawnQueue = [];
@@ -28,29 +33,45 @@ public class SimWorld
     public SimWorld(SimConfig config)
     {
         _config = config;
-        Terrain = TerrainGenerator.Generate(config.TerrainWidth, config.TerrainHeight);
+        _dungeonSeed = _rng.Next();
+
+        var dungeon = TerrainGenerator.GenerateDungeon(
+            config.TerrainWidth, config.TerrainHeight, _dungeonSeed,
+            config.DungeonRoomCountMin, config.DungeonRoomCountMax,
+            config.DungeonRoomSizeMin, config.DungeonRoomSizeMax,
+            config.DungeonCorridorWidth, config.WorldToGrid);
+
+        Terrain = dungeon.Terrain;
+        StartWorldPos = dungeon.StartWorldPos;
+        EndWorldPos = dungeon.EndWorldPos;
 
-        // Spawn player at center
-        var gridToWorld = 1f / config.WorldToGrid;
-        var (sx, sy) = TerrainGenerator.FindSpawnPosition(Terrain);
         Player = new SimPlayer(
             config.PlayerMaxHealth, config.PlayerMaxMana, config.PlayerMaxEs,
             config.PlayerMoveSpeed, config.PlayerHealthRegen, config.PlayerManaRegen,
             config.PlayerEsRegen, config.PlayerEsRechargeDelay)
         {
-            Position = new Vector2(sx * gridToWorld, sy * gridToWorld),
+            Position = dungeon.StartWorldPos,
         };
 
-        // Spawn initial enemies
-        SpawnEnemies(config.TargetEnemyCount);
+        // Spawn enemies inside dungeon rooms
+        SpawnEnemiesInRooms(dungeon.Rooms);
     }
 
     public void RegenerateTerrain()
     {
-        Terrain = TerrainGenerator.Generate(_config.TerrainWidth, _config.TerrainHeight);
-        var gridToWorld = 1f / _config.WorldToGrid;
-        var (sx, sy) = TerrainGenerator.FindSpawnPosition(Terrain);
-        Player.Position = new Vector2(sx * gridToWorld, sy * gridToWorld);
+        _dungeonSeed = _rng.Next();
+        var dungeon = TerrainGenerator.GenerateDungeon(
+            _config.TerrainWidth, _config.TerrainHeight, _dungeonSeed,
+            _config.DungeonRoomCountMin, _config.DungeonRoomCountMax,
+            _config.DungeonRoomSizeMin, _config.DungeonRoomSizeMax,
+            _config.DungeonCorridorWidth, _config.WorldToGrid);
+
+        Terrain = dungeon.Terrain;
+        StartWorldPos = dungeon.StartWorldPos;
+        EndWorldPos = dungeon.EndWorldPos;
+        ReachedEnd = false;
+
+        Player.Position = dungeon.StartWorldPos;
         Player.Health = Player.MaxHealth;
         Player.Mana = Player.MaxMana;
         Player.Es = Player.MaxEs;
@@ -58,7 +79,8 @@ public class SimWorld
         Projectiles.Clear();
         ActiveEffects.Clear();
         _respawnQueue.Clear();
-        SpawnEnemies(_config.TargetEnemyCount);
+        SpawnEnemiesInRooms(dungeon.Rooms);
+        Log.Information("Dungeon regenerated (seed={Seed}), {Rooms} rooms", _dungeonSeed, dungeon.Rooms.Count);
     }
 
     public void QueueSkill(ushort scanCode, Vector2 targetWorldPos)
@@ -73,8 +95,12 @@ public class SimWorld
         dt *= _config.SpeedMultiplier;
         TickNumber++;
 
-        // 0. Expand terrain if player near edge
-        CheckAndExpandTerrain();
+        // 0. Check if player reached dungeon end
+        if (!ReachedEnd && Vector2.Distance(Player.Position, EndWorldPos) < _config.DungeonEndReachDist)
+        {
+            ReachedEnd = true;
+            Log.Information("Reached dungeon end!");
+        }
 
         // 1. Move player
         MovePlayer(dt);
@@ -508,26 +534,20 @@ public class SimWorld
             var (timer, rarity) = _respawnQueue[i];
             timer -= dt;
             if (timer <= 0)
+            {
+                // Respawn at random walkable position in dungeon
+                var pos = TerrainGenerator.FindRandomWalkable(Terrain, _rng);
+                if (pos.HasValue)
+                {
+                    var gridToWorld = 1f / _config.WorldToGrid;
+                    SpawnEnemyAt(new Vector2(pos.Value.x * gridToWorld, pos.Value.y * gridToWorld), rarity);
+                }
                 _respawnQueue.RemoveAt(i);
+            }
             else
+            {
                 _respawnQueue[i] = (timer, rarity);
-        }
-
-        // Cull enemies too far from player
-        for (var i = Enemies.Count - 1; i >= 0; i--)
-        {
-            var dist = Vector2.Distance(Enemies[i].Position, Player.Position);
-            if (dist > _config.EnemyCullDist)
-                Enemies.RemoveAt(i);
-        }
-
-        // Maintain population
-        var aliveCount = Enemies.Count(e => e.IsAlive);
-        while (aliveCount < _config.TargetEnemyCount)
-        {
-            var spawned = SpawnGroup(RollRarity());
-            aliveCount += spawned;
-            if (spawned == 0) break;
+            }
         }
     }
 
@@ -548,91 +568,30 @@ public class SimWorld
         Enemies.Add(enemy);
     }
 
-    private void SpawnEnemies(int count)
+    private void SpawnEnemiesInRooms(List<(int x, int y, int w, int h)> rooms)
     {
-        while (count > 0)
+        var gridToWorld = 1f / _config.WorldToGrid;
+        var totalSpawned = 0;
+
+        foreach (var (rx, ry, rw, rh) in rooms)
         {
-            var spawned = SpawnGroup(RollRarity());
-            if (spawned == 0) break;
-            count -= spawned;
-        }
-    }
+            var roomCenter = new Vector2((rx + rw / 2f) * gridToWorld, (ry + rh / 2f) * gridToWorld);
 
-    private int SpawnGroup(MonsterRarity leaderRarity)
-    {
-        var center = FindSpawnNearPlayer();
-        if (center is null) return 0;
+            // Skip the start room — don't spawn enemies right on the player
+            if (Vector2.Distance(roomCenter, StartWorldPos) < 50f) continue;
 
-        var groupSize = _rng.Next(_config.EnemyGroupMin, _config.EnemyGroupMax + 1);
-        var spawned = 0;
-
-        for (var i = 0; i < groupSize; i++)
-        {
-            var rarity = i == 0 ? leaderRarity : MonsterRarity.White;
-            var offset = i == 0
-                ? Vector2.Zero
-                : new Vector2(
-                    (_rng.NextSingle() - 0.5f) * 2f * _config.EnemyGroupSpread,
-                    (_rng.NextSingle() - 0.5f) * 2f * _config.EnemyGroupSpread);
-
-            var pos = center.Value + offset;
-            var gx = (int)(pos.X * _config.WorldToGrid);
-            var gy = (int)(pos.Y * _config.WorldToGrid);
-            if (Terrain.IsWalkable(gx, gy))
+            var groupSize = _rng.Next(_config.EnemyGroupMin, _config.EnemyGroupMax + 1);
+            for (var i = 0; i < groupSize && totalSpawned < _config.TargetEnemyCount; i++)
             {
+                var lx = rx + _rng.Next(rw);
+                var ly = ry + _rng.Next(rh);
+                if (!Terrain.IsWalkable(lx, ly)) continue;
+                var pos = new Vector2(lx * gridToWorld, ly * gridToWorld);
+                var rarity = i == 0 ? RollRarity() : MonsterRarity.White;
                 SpawnEnemyAt(pos, rarity);
-                spawned++;
+                totalSpawned++;
             }
         }
-
-        return spawned;
-    }
-
-    private Vector2? FindSpawnNearPlayer()
-    {
-        var baseAngle = MoveDirection.LengthSquared() > 0.01f
-            ? MathF.Atan2(MoveDirection.Y, MoveDirection.X)
-            : _rng.NextSingle() * MathF.Tau;
-
-        for (var attempt = 0; attempt < 30; attempt++)
-        {
-            var angle = baseAngle + (_rng.NextSingle() - 0.5f) * MathF.PI;
-            var dist = _config.EnemySpawnMinDist + _rng.NextSingle() * (_config.EnemySpawnMaxDist - _config.EnemySpawnMinDist);
-            var pos = Player.Position + new Vector2(MathF.Cos(angle), MathF.Sin(angle)) * dist;
-
-            var gx = (int)(pos.X * _config.WorldToGrid);
-            var gy = (int)(pos.Y * _config.WorldToGrid);
-            if (Terrain.IsWalkable(gx, gy))
-                return pos;
-        }
-
-        return null;
-    }
-
-    private void CheckAndExpandTerrain()
-    {
-        var gx = (int)(Player.Position.X * _config.WorldToGrid);
-        var gy = (int)(Player.Position.Y * _config.WorldToGrid);
-        var t = Terrain;
-
-        var distLeft = gx - t.OffsetX;
-        var distRight = (t.OffsetX + t.Width - 1) - gx;
-        var distTop = gy - t.OffsetY;
-        var distBottom = (t.OffsetY + t.Height - 1) - gy;
-
-        var amt = _config.ExpandAmount;
-        var expandLeft = distLeft < _config.ExpandThreshold ? amt : 0;
-        var expandRight = distRight < _config.ExpandThreshold ? amt : 0;
-        var expandTop = distTop < _config.ExpandThreshold ? amt : 0;
-        var expandBottom = distBottom < _config.ExpandThreshold ? amt : 0;
-
-        if (expandLeft > 0 || expandRight > 0 || expandTop > 0 || expandBottom > 0)
-        {
-            Terrain = TerrainGenerator.Expand(Terrain, expandLeft, expandRight, expandTop, expandBottom, _rng);
-            Serilog.Log.Information(
-                "Terrain expanded: {W}x{H} offset=({Ox},{Oy})",
-                Terrain.Width, Terrain.Height, Terrain.OffsetX, Terrain.OffsetY);
-        }
     }
 
     private MonsterRarity RollRarity()

src/Nexus.Simulator/World/TerrainGenerator.cs

@@ -3,6 +3,12 @@ using Nexus.Core;
 
 namespace Nexus.Simulator.World;
 
+public record DungeonResult(
+    WalkabilitySnapshot Terrain,
+    Vector2 StartWorldPos,
+    Vector2 EndWorldPos,
+    List<(int x, int y, int w, int h)> Rooms);
+
 public static class TerrainGenerator
 {
     // Permutation table for Perlin noise (fixed seed for deterministic terrain)
@@ -22,6 +28,277 @@ public static class TerrainGenerator
         for (var i = 0; i < 512; i++) Perm[i] = p[i & 255];
     }
 
+    public static DungeonResult GenerateDungeon(int width, int height, int seed,
+        int roomCountMin = 8, int roomCountMax = 15,
+        int roomSizeMin = 6, int roomSizeMax = 20,
+        int corridorWidth = 3, float worldToGrid = 23f / 250f)
+    {
+        var rng = new Random(seed);
+        var data = new byte[width * height]; // all walls by default
+
+        // 1. Place rooms
+        var rooms = new List<(int x, int y, int w, int h)>();
+        var targetCount = rng.Next(roomCountMin, roomCountMax + 1);
+
+        for (var attempt = 0; attempt < targetCount * 50 && rooms.Count < targetCount; attempt++)
+        {
+            var rw = rng.Next(roomSizeMin, roomSizeMax + 1);
+            var rh = rng.Next(roomSizeMin, roomSizeMax + 1);
+            // Place rooms in the central third of the grid so they stay close together
+            var margin = width / 3;
+            var rx = rng.Next(margin, width - rw - margin);
+            var ry = rng.Next(margin, height - rh - margin);
+
+            // Reject only if >50% overlap with an existing room (allow touching/partial overlap)
+            var overlaps = false;
+            foreach (var (ox, oy, ow, oh) in rooms)
+            {
+                var overlapX = Math.Max(0, Math.Min(rx + rw, ox + ow) - Math.Max(rx, ox));
+                var overlapY = Math.Max(0, Math.Min(ry + rh, oy + oh) - Math.Max(ry, oy));
+                var overlapArea = overlapX * overlapY;
+                var smallerArea = Math.Min(rw * rh, ow * oh);
+                if (overlapArea > smallerArea * 0.5f)
+                {
+                    overlaps = true;
+                    break;
+                }
+            }
+            if (overlaps) continue;
+
+            rooms.Add((rx, ry, rw, rh));
+
+            // Carve room
+            for (var ly = ry; ly < ry + rh; ly++)
+            for (var lx = rx; lx < rx + rw; lx++)
+                data[ly * width + lx] = 1;
+        }
+
+        if (rooms.Count < 2)
+        {
+            // Fallback: ensure at least 2 rooms
+            rooms.Clear();
+            var r1 = (x: width / 4, y: height / 4, w: roomSizeMax, h: roomSizeMax);
+            var r2 = (x: width * 3 / 4 - roomSizeMax, y: height * 3 / 4 - roomSizeMax, w: roomSizeMax, h: roomSizeMax);
+            rooms.Add(r1);
+            rooms.Add(r2);
+            for (var ly = r1.y; ly < r1.y + r1.h; ly++)
+            for (var lx = r1.x; lx < r1.x + r1.w; lx++)
+                data[ly * width + lx] = 1;
+            for (var ly = r2.y; ly < r2.y + r2.h; ly++)
+            for (var lx = r2.x; lx < r2.x + r2.w; lx++)
+                data[ly * width + lx] = 1;
+        }
+
+        // 2. Build MST using Prim's algorithm on room center distances
+        var roomCount = rooms.Count;
+        var inMst = new bool[roomCount];
+        var mstEdges = new List<(int a, int b)>();
+        inMst[0] = true;
+
+        while (mstEdges.Count < roomCount - 1)
+        {
+            var bestDist = float.MaxValue;
+            var bestA = -1;
+            var bestB = -1;
+
+            for (var a = 0; a < roomCount; a++)
+            {
+                if (!inMst[a]) continue;
+                for (var b = 0; b < roomCount; b++)
+                {
+                    if (inMst[b]) continue;
+                    var (ax, ay, aw, ah) = rooms[a];
+                    var (bx, by, bw, bh) = rooms[b];
+                    var dx = (ax + aw / 2f) - (bx + bw / 2f);
+                    var dy = (ay + ah / 2f) - (by + bh / 2f);
+                    var dist = dx * dx + dy * dy;
+                    if (dist < bestDist)
+                    {
+                        bestDist = dist;
+                        bestA = a;
+                        bestB = b;
+                    }
+                }
+            }
+
+            if (bestB < 0) break; // disconnected (shouldn't happen)
+            inMst[bestB] = true;
+            mstEdges.Add((bestA, bestB));
+        }
+
+        // Add 1-2 extra edges for loops
+        var extraEdges = Math.Min(2, roomCount / 3);
+        for (var i = 0; i < extraEdges; i++)
+        {
+            var a = rng.Next(roomCount);
+            var b = rng.Next(roomCount);
+            if (a != b && !mstEdges.Contains((a, b)) && !mstEdges.Contains((b, a)))
+                mstEdges.Add((a, b));
+        }
+
+        // 3. Carve L-shaped corridors between connected rooms
+        foreach (var (a, b) in mstEdges)
+        {
+            var (ax, ay, aw, ah) = rooms[a];
+            var (bx, by, bw, bh) = rooms[b];
+            var cx1 = ax + aw / 2;
+            var cy1 = ay + ah / 2;
+            var cx2 = bx + bw / 2;
+            var cy2 = by + bh / 2;
+
+            // Carve horizontal then vertical, with widened corner
+            CarveCorridor(data, width, height, cx1, cy1, cx2, cy1, corridorWidth);
+            CarveCorridor(data, width, height, cx2, cy1, cx2, cy2, corridorWidth);
+
+            // Widen the corner with a square patch so the bot doesn't clip walls
+            var cornerR = corridorWidth;
+            for (var dy2 = -cornerR; dy2 <= cornerR; dy2++)
+            for (var dx2 = -cornerR; dx2 <= cornerR; dx2++)
+            {
+                var px = cx2 + dx2;
+                var py = cy1 + dy2;
+                if (px >= 0 && px < width && py >= 0 && py < height)
+                    data[py * width + px] = 1;
+            }
+        }
+
+        // 4. Build adjacency list from MST edges for BFS
+        var adj = new List<int>[roomCount];
+        for (var i = 0; i < roomCount; i++) adj[i] = [];
+        foreach (var (a, b) in mstEdges)
+        {
+            adj[a].Add(b);
+            adj[b].Add(a);
+        }
+
+        // 5. Select start room: closest to grid center
+        var gridCx = width / 2f;
+        var gridCy = height / 2f;
+        var startRoom = 0;
+        var bestStartDist = float.MaxValue;
+        for (var i = 0; i < roomCount; i++)
+        {
+            var (rx, ry, rw, rh) = rooms[i];
+            var dx = (rx + rw / 2f) - gridCx;
+            var dy = (ry + rh / 2f) - gridCy;
+            var d = dx * dx + dy * dy;
+            if (d < bestStartDist) { bestStartDist = d; startRoom = i; }
+        }
+
+        // 6. Select end room: farthest from start via BFS graph distance
+        var bfsDist = new int[roomCount];
+        Array.Fill(bfsDist, -1);
+        bfsDist[startRoom] = 0;
+        var bfsQueue = new Queue<int>();
+        bfsQueue.Enqueue(startRoom);
+        var endRoom = startRoom;
+        var maxDist = 0;
+
+        while (bfsQueue.Count > 0)
+        {
+            var cur = bfsQueue.Dequeue();
+            foreach (var nb in adj[cur])
+            {
+                if (bfsDist[nb] >= 0) continue;
+                bfsDist[nb] = bfsDist[cur] + 1;
+                if (bfsDist[nb] > maxDist) { maxDist = bfsDist[nb]; endRoom = nb; }
+                bfsQueue.Enqueue(nb);
+            }
+        }
+
+        // 7. Flood-fill connectivity check from start room — add corridors if any room unreachable
+        EnsureConnectivity(data, width, height, rooms, startRoom, corridorWidth);
+
+        var terrain = new WalkabilitySnapshot { Width = width, Height = height, Data = data };
+
+        // Convert room centers to world positions
+        var g2w = 1f / worldToGrid;
+        var (sx, sy, sw, sh) = rooms[startRoom];
+        var startWorld = new Vector2((sx + sw / 2f) * g2w, (sy + sh / 2f) * g2w);
+        var (ex, ey, ew, eh) = rooms[endRoom];
+        var endWorld = new Vector2((ex + ew / 2f) * g2w, (ey + eh / 2f) * g2w);
+
+        return new DungeonResult(terrain, startWorld, endWorld, rooms);
+    }
+
+    private static void CarveCorridor(byte[] data, int width, int height,
+        int x1, int y1, int x2, int y2, int thickness)
+    {
+        var half = thickness / 2;
+
+        if (y1 == y2)
+        {
+            // Horizontal
+            var minX = Math.Min(x1, x2);
+            var maxX = Math.Max(x1, x2);
+            for (var x = minX; x <= maxX; x++)
+            for (var dy = -half; dy <= half; dy++)
+            {
+                var y = y1 + dy;
+                if (x >= 0 && x < width && y >= 0 && y < height)
+                    data[y * width + x] = 1;
+            }
+        }
+        else
+        {
+            // Vertical
+            var minY = Math.Min(y1, y2);
+            var maxY = Math.Max(y1, y2);
+            for (var y = minY; y <= maxY; y++)
+            for (var dx = -half; dx <= half; dx++)
+            {
+                var x = x1 + dx;
+                if (x >= 0 && x < width && y >= 0 && y < height)
+                    data[y * width + x] = 1;
+            }
+        }
+    }
+
+    private static void EnsureConnectivity(byte[] data, int width, int height,
+        List<(int x, int y, int w, int h)> rooms, int startRoom, int corridorWidth)
+    {
+        // Flood-fill from start room center
+        var (sx, sy, sw, sh) = rooms[startRoom];
+        var seedX = sx + sw / 2;
+        var seedY = sy + sh / 2;
+
+        var visited = new bool[width * height];
+        var queue = new Queue<(int x, int y)>();
+        queue.Enqueue((seedX, seedY));
+        visited[seedY * width + seedX] = true;
+
+        while (queue.Count > 0)
+        {
+            var (cx, cy) = queue.Dequeue();
+            int[] dx = [-1, 1, 0, 0];
+            int[] dy = [0, 0, -1, 1];
+            for (var d = 0; d < 4; d++)
+            {
+                var nx = cx + dx[d];
+                var ny = cy + dy[d];
+                if (nx < 0 || nx >= width || ny < 0 || ny >= height) continue;
+                var idx = ny * width + nx;
+                if (visited[idx] || data[idx] == 0) continue;
+                visited[idx] = true;
+                queue.Enqueue((nx, ny));
+            }
+        }
+
+        // Check each room — if its center isn't reachable, carve a corridor to start
+        for (var i = 0; i < rooms.Count; i++)
+        {
+            if (i == startRoom) continue;
+            var (rx, ry, rw, rh) = rooms[i];
+            var rcx = rx + rw / 2;
+            var rcy = ry + rh / 2;
+            if (visited[rcy * width + rcx]) continue;
+
+            // Carve corridor from this room to start room
+            CarveCorridor(data, width, height, rcx, rcy, seedX, rcy, corridorWidth);
+            CarveCorridor(data, width, height, seedX, rcy, seedX, seedY, corridorWidth);
+        }
+    }
+
     public static WalkabilitySnapshot Generate(int width, int height, int? seed = null)
     {
         var data = new byte[width * height];

src/Nexus.Systems/BotTick.cs

@@ -1,3 +1,4 @@
+using System.Numerics;
 using Nexus.Core;
 using Nexus.Data;
 using Nexus.Pathfinding;
@@ -18,6 +19,11 @@ public static class BotTick
 
         actionQueue.Clear();
         movementBlender.Clear();
+
+        // Update stuck detection BEFORE systems run so IsStuck is current
+        if (state.Player.HasPosition)
+            movementBlender.UpdateStuckState(state.Player.Position);
+
         nav.Update(state);
 
         foreach (var sys in systems)
@@ -25,16 +31,58 @@ public static class BotTick
                 sys.Update(state, actionQueue, movementBlender);
 
         // Wall repulsion — push away from nearby walls to prevent getting stuck
+        // Layer 5: never dropped by stuck detection (unlike L2 orbit)
         if (state.Terrain is { } terrain && state.Player.HasPosition)
         {
             var wallPush = TerrainQuery.ComputeWallRepulsion(terrain, state.Player.Position, config.WorldToGrid);
             if (wallPush.LengthSquared() > 0.0001f)
-                movementBlender.Submit(new MovementIntent(2, wallPush * 0.6f, 0.3f, "WallPush"));
+            {
+                // Boost wall push when stuck
+                var mag = movementBlender.IsStuck ? 1.0f : 0.6f;
+                var ovr = movementBlender.IsStuck ? 0.8f : 0.5f;
+                movementBlender.Submit(new MovementIntent(5, wallPush * mag, ovr, "WallPush"));
+            }
         }
 
-        if (nav.DesiredDirection.HasValue)
+        // Combat engagement: when visible enemies are nearby and we're not fleeing,
+        // navigate toward them instead of the exit. If fleeing, use normal nav to support escape.
+        var shouldEngage = false;
+        if (state.ThreatAssessment is not { ShouldFlee: true })
+        {
+            var enemyCentroid = Vector2.Zero;
+            var enemyCount = 0;
+            foreach (var m in state.HostileMonsters)
+            {
+                if (!m.IsAlive || m.DistanceToPlayer >= config.CombatEngagementRange) continue;
+                if (state.Terrain is { } los &&
+                    !TerrainQuery.HasLineOfSight(los, state.Player.Position, m.Position, config.WorldToGrid))
+                    continue;
+                enemyCentroid += m.Position;
+                enemyCount++;
+            }
+
+            if (enemyCount > 0 && state.Player.HasPosition)
+            {
+                shouldEngage = true;
+                enemyCentroid /= enemyCount;
+                var toEnemies = enemyCentroid - state.Player.Position;
+                if (toEnemies.LengthSquared() > 1f)
+                    movementBlender.Submit(new MovementIntent(3, Vector2.Normalize(toEnemies), 0f, "Navigation"));
+            }
+        }
+
+        if (!shouldEngage && nav.DesiredDirection.HasValue)
             movementBlender.Submit(new MovementIntent(3, nav.DesiredDirection.Value, 0f, "Navigation"));
 
+        // Predictive wall steering — look ahead along movement direction and steer around walls
+        if (!shouldEngage && state.Terrain is { } t2 && state.Player.HasPosition && nav.DesiredDirection.HasValue)
+        {
+            var steer = TerrainQuery.ComputeWallSteering(t2, state.Player.Position,
+                nav.DesiredDirection.Value, config.WorldToGrid);
+            if (steer.LengthSquared() > 0.0001f)
+                movementBlender.Submit(new MovementIntent(4, steer, 0.4f, "WallSteer"));
+        }
+
         movementBlender.Resolve(state.Terrain, state.Player.Position, config.WorldToGrid);
         var resolved = actionQueue.Resolve();
 

src/Nexus.Systems/MovementSystem.cs

@@ -22,7 +22,7 @@ public class MovementSystem : ISystem
     public float WorldToGrid { get; set; } = 23f / 250f;
 
     /// <summary>Minimum distance before radial push kicks in hard.</summary>
-    public float MinComfortDistance { get; set; } = 150f;
+    public float MinComfortDistance { get; set; } = 80f;
 
     private int _orbitSign = 1;
 
@@ -33,7 +33,7 @@ public class MovementSystem : ISystem
 
         var playerPos = state.Player.Position;
 
-        // Compute weighted centroid and closest distance of nearby hostiles
+        // Compute weighted centroid and closest distance of nearby hostiles (LOS only)
         var centroid = Vector2.Zero;
         var count = 0;
         var closestDist = float.MaxValue;
@@ -42,6 +42,9 @@ public class MovementSystem : ISystem
         {
             if (!monster.IsAlive) continue;
             if (monster.DistanceToPlayer > SafeDistance) continue;
+            if (state.Terrain is { } t &&
+                !TerrainQuery.HasLineOfSight(t, playerPos, monster.Position, WorldToGrid))
+                continue;
 
             centroid += monster.Position;
             count++;
@@ -62,14 +65,14 @@ public class MovementSystem : ISystem
         var tangent = new Vector2(-centroidDir.Y, centroidDir.X) * _orbitSign;
 
         // Radial component — push away from centroid, strength based on proximity
-        // Close < MinComfort: strong push out
-        // MinComfort..SafeDistance*0.5: gentle push out
+        // Close < MinComfort: gentle push out (avoid stacking on top of enemies)
+        // MinComfort..SafeDistance*0.5: slight push out
         // SafeDistance*0.7+: pull inward to maintain engagement instead of drifting away
         float radialStrength;
         if (closestDist < MinComfortDistance)
-            radialStrength = -0.6f; // too close — push outward
+            radialStrength = -0.25f; // too close — gentle push outward
         else if (closestDist < SafeDistance * 0.5f)
-            radialStrength = -0.3f; // somewhat close — moderate push outward
+            radialStrength = -0.1f; // somewhat close — slight push outward
         else if (closestDist > SafeDistance * 0.7f)
             radialStrength = 0.4f; // at edge — pull inward to maintain engagement
         else
@@ -81,8 +84,12 @@ public class MovementSystem : ISystem
         if (result.LengthSquared() < 0.0001f) return;
 
         // Override: attenuate navigation (layer 3) when actively orbiting enemies.
-        // Without this, navigation at full weight pulls the bot past enemies.
-        float orbitOverride = closestDist < SafeDistance * 0.7f ? 0.8f : 0.5f;
+        // Keep moderate so navigation can still guide past walls.
+        float orbitOverride = closestDist < SafeDistance * 0.7f ? 0.5f : 0.3f;
+
+        // Suppress orbit when blender detects stuck — let navigation guide out
+        if (movement.IsStuck)
+            return;
 
         movement.Submit(new MovementIntent(2, Vector2.Normalize(result) * RepulsionWeight, orbitOverride, "Orbit"));
     }

src/Nexus.Systems/ThreatSystem.cs

@@ -320,7 +320,7 @@ public class ThreatSystem : ISystem
         if (state.Terrain is { } terrain)
         {
             hasLos = TerrainQuery.HasLineOfSight(terrain, playerPos, monster.Position, WorldToGrid);
-            if (!hasLos) score *= 0.4f;
+            if (!hasLos) score *= 0.05f;
         }
 
         // Low HP monsters are less threatening